CN110647171B - Method for plant protection unmanned aerial vehicle to adjust flight line independently - Google Patents
Method for plant protection unmanned aerial vehicle to adjust flight line independently Download PDFInfo
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- CN110647171B CN110647171B CN201911076419.4A CN201911076419A CN110647171B CN 110647171 B CN110647171 B CN 110647171B CN 201911076419 A CN201911076419 A CN 201911076419A CN 110647171 B CN110647171 B CN 110647171B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000007788 liquid Substances 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 239000003814 drug Substances 0.000 claims abstract description 28
- 239000000575 pesticide Substances 0.000 claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 239000007921 spray Substances 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 238000005507 spraying Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
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- Pest Control & Pesticides (AREA)
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Abstract
The invention discloses a method for a plant protection unmanned aerial vehicle to automatically adjust a flight line, which comprises the following steps: the detection device detects the wind direction and the wind speed in the current plant protection environment; calculating the drift displacement value of the liquid medicine; the plant protection unmanned aerial vehicle automatically adjusts a flight route, moves in the direction opposite to the drifting direction of the liquid medicine, and replans the plant protection route; detection device detects wind direction and wind speed in the current plant protection environment, includes: the detection device detects the direction of wind in the horizontal direction in the plant protection environment; the detection device detects the direction of wind in the plant protection environment in the space and the space angle between the wind and the horizontal plane; the detection device detects a wind speed in the plant protection environment. The invention ensures that the plant protection unmanned aerial vehicle can ensure that the pesticide spraying area is unchanged by adjusting the flight path of the unmanned aerial vehicle, thereby effectively preventing the heavy spray and the missing spray during the plant protection operation and achieving the accurate spraying and the best plant protection effect no matter how wind influences the sprayed pesticide.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a method for a plant protection unmanned aerial vehicle to automatically adjust a flight line.
Background
With the rapid development of the unmanned aerial vehicle technology, the unmanned aerial vehicle is widely applied to the plant protection industry. The plant protection unmanned aerial vehicle flies according to the route planned in advance in the plant protection operation, and the pesticide spraying area is determined by the route that the plant protection unmanned aerial vehicle flies. The problem of worrying most when with unmanned aerial vehicle plant protection operation just meets wind, because the pesticide that sprays out can drift under the effect of wind, the area of plant protection also can change like this to cause to leak to spout or respray, reach not accurate spraying, the plant protection effect is poor.
Disclosure of Invention
The invention aims to provide a method for a plant protection unmanned aerial vehicle to adjust a flight path independently, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for a plant protection unmanned aerial vehicle to autonomously adjust a flight path comprises the following steps:
the detection device detects the wind direction and the wind speed in the current plant protection environment;
calculating the drift displacement value of the liquid medicine;
the plant protection unmanned aerial vehicle automatically adjusts the flight path, moves in the direction opposite to the drifting direction of the liquid medicine, and replans the plant protection path.
Preferably, the detecting device detects a wind direction and a wind speed in a current plant protection environment, and includes:
the detection device detects the direction of wind in the plant protection environment in the horizontal direction;
the detection device detects the direction of wind in the plant protection environment in the space and the space angle between the wind and the horizontal plane;
the detection device detects a wind speed in the plant protection environment.
Preferably, the detected wind speed is V, where alpha is the spatial angle of the wind in the space with respect to the horizontal plane Wind (W) ；
According to the vector theorem, the wind speed V in the space can be adjusted Wind (W) Divided into wind velocity V on the horizontal plane Level of And wind speed V on the vertical plane Is perpendicular to ；
Calculating V according to the triangular geometric relationship Level of =V Wind power *cosα，V Is perpendicular to =V Wind power *sinα。
Preferably, when the plant protection unmanned aerial vehicle sprays the pesticide, the distance between the plant protection unmanned aerial vehicle and the plant canopy is constant, and the constant value is set to be H;
the propeller of the plant protection unmanned aerial vehicle can generate downdraft when rotating, and the downdraft is V Air flow ；
The descending speed of the liquid medicine in the vertical direction is influenced by the wind speed in the vertical plane and the descending air flow generated when the propeller rotates, namely the descending speed of the liquid medicine is V Is perpendicular to +V Air flow The drifting speed of the liquid medicine in the horizontal direction is influenced by the wind speed on the horizontal plane, and the drifting speed is equal to the wind speed V on the horizontal plane Level of Consistency;
the shift value of the drift of the chemical liquid is L, which can be obtained from the equivalence relation,
H/（V is perpendicular to +V Air flow ）=L/V Level of I.e. L = H V Level of /（V Is perpendicular to +V Air flow ）=H*（V Wind power *cosα）/（V Wind (W) *sinα+V Air flow ）。
Preferably, the downdraft value that produces when plant protection unmanned aerial vehicle's screw is rotatory learns through installing the detection of the air current sensor below plant protection unmanned aerial vehicle.
Preferably, the detection device detects the wind direction in the plant protection environment and the displacement value L that the detection device calculated the liquid medicine drift all conveys plant protection unmanned aerial vehicle's main control unit through wireless communication module, and plant protection unmanned aerial vehicle's main control unit controls plant protection unmanned aerial vehicle and flies to the wind direction that detects in the reverse direction, and the distance of flying in the reverse direction is unanimous with the displacement value that calculates the liquid medicine drift.
Preferably, the detection device is an air speed sensor, and the air speed sensor is installed above the plant protection unmanned aerial vehicle or installed on a measurement base station fixed beside a field.
Compared with the prior art, the device has the advantages that the air speed sensor is used for detecting the speed of wind in the plant protection environment, the direction of the wind on the horizontal plane and the direction of the wind in the space, the airflow sensor is used for detecting the descending airflow value generated when the propeller of the plant protection unmanned aerial vehicle rotates, the displacement value of the liquid medicine drifting along with the wind is calculated through an algorithm according to the data and is transmitted to the plant protection unmanned aerial vehicle, the control unit of the plant protection unmanned aerial vehicle controls the plant protection unmanned aerial vehicle to fly towards the reverse direction of the drift of the liquid medicine, and the flying distance is consistent with the displacement value of the drift of the liquid medicine. The invention ensures that the plant protection unmanned aerial vehicle can ensure that the pesticide spraying area is unchanged by adjusting the flight path of the unmanned aerial vehicle, thereby effectively preventing the heavy spray and the missing spray during the plant protection operation and achieving the accurate spraying and the best plant protection effect no matter how wind influences the sprayed pesticide.
Drawings
FIG. 1 is a flow chart of the operation of the present invention.
FIG. 2 is a schematic view of a flight path and pesticide spray area for the plant protection operation of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a method for a plant protection unmanned aerial vehicle to autonomously adjust a flight path includes:
the detection device detects the wind direction and the wind speed in the current plant protection environment;
calculating the drift displacement value of the liquid medicine;
the plant protection unmanned aerial vehicle automatically adjusts the flight path, moves in the direction opposite to the drifting direction of the liquid medicine, and replans the plant protection flight path.
Detection device detects wind direction and wind speed in the current plant protection environment, includes:
the detection device detects the direction of wind in the horizontal direction in the plant protection environment;
the detection device detects the direction of wind in the plant protection environment in the space and the space angle between the wind and the horizontal plane;
the detection device detects a wind speed in the plant protection environment.
Let the angle of the wind in space with respect to the horizontal plane be α, and the detected wind speed be V Wind power ；
According to the vector theorem, the wind speed V in the space can be adjusted Wind power Divided into wind velocity V on the horizontal plane Level of And wind speed V on the vertical plane Is perpendicular to ；
Calculating V according to the triangular geometric relationship Level of =V Wind power *cosα，V Is perpendicular to =V Wind power *sinα。
When the plant protection unmanned aerial vehicle sprays pesticides, the distance between the plant protection unmanned aerial vehicle and a plant canopy is constant, and the constant value is H;
the propeller of the plant protection unmanned aerial vehicle can generate downdraft when rotating, and the downdraft is V Air flow ；
The descending speed of the liquid medicine in the vertical direction is influenced by the wind speed in the vertical plane and the descending air flow generated when the propeller rotates, namely the descending speed of the liquid medicine is V Is perpendicular to +V Air flow The liquid medicine is in waterThe speed of the drift in the direction of the square is influenced by the wind speed in the horizontal plane, and the speed of the drift is related to the wind speed in the horizontal plane V Level of The consistency is achieved;
the shift value of the drift of the chemical liquid is L, which can be obtained from the equivalence relation,
H/（V is perpendicular to +V Air flow ）=L/V Level of I.e. L = H V Level of /（V Is perpendicular to +V Air flow ）=H*（V Wind power *cosα）/（V Wind (W) *sinα+V Air flow ）。
The downdraft value that produces when plant protection unmanned aerial vehicle's screw is rotatory learns through installing the detection of the air current sensor below plant protection unmanned aerial vehicle.
Detection device detects out the wind direction in the plant protection environment and detection device calculates the displacement value L that the liquid medicine drifted and all conveys plant protection unmanned aerial vehicle's main control unit through wireless communication module, and plant protection unmanned aerial vehicle's main control unit control plant protection unmanned aerial vehicle is to the reverse flight of wind direction that detects, and the distance of reverse flight is unanimous with the displacement value that calculates the liquid medicine drift.
Detection device is air velocity sensor, air velocity sensor installs in plant protection unmanned aerial vehicle's top or installs on fixing the measurement basic station on field ground limit.
As shown in fig. 2, if the starting point of pesticide spraying of the plant protection unmanned aerial vehicle is a, and the end point is B, the straight line AB is the flight path planned by the plant protection unmanned aerial vehicle when spraying pesticide, and the solid line area is the theoretical area of pesticide spraying of the plant protection unmanned aerial vehicle;
under the condition that wind is encountered in the plant protection operation process, the direction of the wind on the horizontal plane is the southeast direction, so that the dotted line area is the actual area for spraying the pesticide by the plant protection unmanned aerial vehicle, and compared with the theoretical area, the whole actual area for spraying the pesticide is shifted to the southeast direction by the distance L, namely the shift value L of the pesticide liquid drift; in order to achieve accurate spraying and achieve the best plant protection effect, the flight path of the plant protection unmanned aerial vehicle should be shifted and adjusted in the opposite direction of the drift of the liquid medicine, the shifting distance is consistent with the shifting value of the drift of the liquid medicine, and the flight path of the plant protection unmanned aerial vehicle after being shifted and adjusted is A 'B'.
Claims (1)
1. A method for a plant protection unmanned aerial vehicle to autonomously adjust a flight line is characterized by comprising the following steps:
detecting the wind direction and the wind speed in the current plant protection environment by using a detection device;
calculating the drift displacement value of the liquid medicine;
the plant protection unmanned aerial vehicle automatically adjusts a flight route, moves in the direction opposite to the drifting direction of the liquid medicine, and replans the plant protection route;
detection device detects wind direction and wind speed in the current plant protection environment, includes:
the detection device detects the direction of wind in the horizontal direction in the plant protection environment;
the detection device detects the direction of wind in the plant protection environment in the space and the space angle between the wind and the horizontal plane;
the detection device detects the wind speed in the plant protection environment;
the method comprises the following steps:
let the angle of the wind in space with respect to the horizontal plane be α, and the detected wind speed be V Wind power ；
According to the vector theorem, the wind speed V in the space can be adjusted Wind power Divided into wind velocity V on the horizontal plane Level of And wind speed V on the vertical plane Is perpendicular to ；
According to the triangular geometric relationship, calculating V Level of =V Wind power *cosα，V Is perpendicular to =V Wind power *sinα；
The method comprises the following steps: when the plant protection unmanned aerial vehicle sprays pesticides, the distance between the plant protection unmanned aerial vehicle and a plant canopy is constant, and the constant value is H;
the propeller of the plant protection unmanned aerial vehicle can generate downdraught when rotating, and the downdraught is V Air flow ；
The descending speed of the liquid medicine in the vertical direction is influenced by the wind speed in the vertical plane and the descending air flow generated when the propeller rotates, namely the descending speed of the liquid medicine is V Is perpendicular to +V Air flow The speed of the drift of the liquid medicine in the horizontal direction is influenced by the wind speed in the horizontal plane, and the driftVelocity of (d) and wind velocity V of horizontal plane Level of The consistency is achieved;
the shift value of the drift of the chemical liquid is L, which can be obtained from the equivalence relation,
H/（V is perpendicular to +V Air flow ）=L/V Level of I.e. L = H V Level of /（V Is perpendicular to +V Air flow ）=H*（V Wind power *cosα）/（V Wind (W) *sinα+V Air flow ）；
The descending airflow value generated when the propeller of the plant protection unmanned aerial vehicle rotates is detected by an airflow sensor arranged below the plant protection unmanned aerial vehicle;
the detection device detects the wind direction in the plant protection environment, the displacement value L of the drift of the liquid medicine calculated by the detection device is transmitted to the main control unit of the plant protection unmanned aerial vehicle through the wireless communication module, the main control unit of the plant protection unmanned aerial vehicle controls the plant protection unmanned aerial vehicle to reversely fly towards the detected wind direction, and the reverse flying distance is consistent with the displacement value of the drift of the calculated liquid medicine;
the detection device is an air speed sensor, and the air speed sensor is installed above the plant protection unmanned aerial vehicle or installed on a measuring base station fixed on the field side.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111999524B (en) * | 2020-06-05 | 2022-08-23 | 上海应用技术大学 | Plant protection unmanned aerial vehicle |
| CN111736629B (en) * | 2020-06-30 | 2021-04-27 | 华南农业大学 | Fine adjustment system and method for fog drop drift prevention path of plant protection unmanned aerial vehicle based on WSN |
| CN112783206B (en) * | 2020-12-31 | 2023-05-02 | 广州极飞科技股份有限公司 | Spray control method, spray control device, aircraft and storage medium |
| CN114326802B (en) * | 2021-12-28 | 2024-04-26 | 广州极飞科技股份有限公司 | Spray operation control method and device, aircraft and storage medium |
| CN115167520B (en) * | 2022-08-08 | 2023-05-16 | 山东曙光照信息技术有限公司 | Unmanned aerial vehicle pesticide accurate spraying operation system based on wireless sensor network |
| CN116605427B (en) * | 2023-07-20 | 2023-09-26 | 山东高烽畜牧科技有限公司 | Atomizing and spraying device based on agricultural plant protection unmanned aerial vehicle and application method thereof |
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